/*
 * Simbad - Robot Simulator Copyright (C) 2004 Louis Hugues
 * 
 * This program is free software; you can redistribute it and/or modify it under
 * the terms of the GNU General Public License as published by the Free Software
 * Foundation; either version 2 of the License, or (at your option) any later
 * version.
 * 
 * This program is distributed in the hope that it will be useful, but WITHOUT
 * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
 * FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
 * details.
 * 
 * You should have received a copy of the GNU General Public License along with
 * this program; if not, write to the Free Software Foundation, Inc., 59 Temple
 * Place, Suite 330, Boston, MA 02111-1307 USA
 * 
 * -----------------------------------------------------------------------------
 * $Author: sioulseuguh $ 
 * $Date: 2005/08/07 12:24:56 $
 * $Revision: 1.4 $
 * $Source: /cvsroot/simbad/src/simbad/demo/KheperaDemo.java,v $
 */
package simbad.demo;

import javax.vecmath.Color3f;
import javax.vecmath.Vector3d;
import javax.vecmath.Vector3f;

import simbad.sim.Box;
import simbad.sim.KheperaRobot;

/**
 * A Khepera Robot demo.
 * 
 */
public class KheperaDemo extends Demo {

	// derive from class KheperaRobot instead of class Agent
	public class Robot extends KheperaRobot {
		public Robot(Vector3d position, String name) {
			super(position, name);
		}

		/** Initialize Agent's Behavior */
		@Override
		public void initBehavior() {
		}

		/** Perform one step of Agent's Behavior */
		@Override
		public void performBehavior() {
			setWheelsVelocity(0.01, 0.01);
			if (collisionDetected())
				moveToStartPosition();
		}

	}

	public KheperaDemo() {
		setWorldSize(1f);
		boxColor = new Color3f(0.6f, 0.5f, .3f);

		add(new Box(new Vector3d(0, 0, -0.07), new Vector3f(0.10f, 0.03f, 0.055f), this));

		add(new Box(new Vector3d(0.2, 0, 0), new Vector3f(0.055f, 0.1f, 0.055f), this));

		// Add a robot.
		add(new Robot(new Vector3d(0, 0, 0), "khepera"));

	}
}